河北水利电力学院学报2025，Vol.35Issue(3)：30-36,7.DOI:10.16046/j.cnki.issn2096-5680.2025.03.005
基于激光SLAM的动态适应性移动机器人自主导航方法
Dynamic Adaptive Autonomous Navigation Method for Mobile Robots Based on Laser SLAM
摘要
Abstract
In the application and research field of autonomous navigation technology for mobile robots,the physical spaces in which mobile robots perform are highly dynamic,which poses significant challenges to the robot's movement and adversely affects the accuracy and efficiency of autonomous navigation,mak-ing it difficult to achieve ideal results.To address this issue,a dynamic and adaptive mobile robot autono-mous navigation method based on laser SLAM is proposed.Collecting corresponding laser data through the laser equipment carried by mobile robots,and correcting the distortion of laser data through linear in-terpolation,we analyze the Gaussian distribution state of the processed laser data to construct a cost map generation framework for laser SLAM.We derive the mobile cost parameters in the generated cost map to achieve autonomous navigation process.Through practical testing,it is known that the autonomous navi-gation results obtained by this method in application show low collision risk and excellent navigation,meeting the application requirements of dynamic adaptive mobile robots.关键词
移动机器人/机器人导航/自主导航/动态环境/激光SLAMKey words
mobile robots/robot navigation/autonomous navigation/dynamic environment/laser SLAM分类
信息技术与安全科学引用本文复制引用
吴双..基于激光SLAM的动态适应性移动机器人自主导航方法[J].河北水利电力学院学报,2025,35(3):30-36,7.基金项目
2023年安徽省高等学校科学研究重点项目(2023AH051156) （2023AH051156）
淮南联合大学自然科学研究项目(LYB2306) （LYB2306）
